Brake device

Abstract

Brake device - with a base body (2) and a driven member (3) which can be driven in a rotary output movement (7) about a main axis (4) extending along a main direction (4a), - with a first brake body (25) torque-coupled to the output member (3) and performing a brake body rotational movement (26) about the main axis (4) during the rotary output movement (7) of the output member (3), which has a first brake structure (31), - and with a second brake body (33) supported in a non-rotatable manner about the main axis (4) with respect to the base body (2), but movable in the main direction (4a), which has a second brake structure (36) opposite the first brake structure (31) in the main direction (4a), - and with an actuating device (19) for repositioning the second brake body (33) within the scope of a working movement (34) oriented in the main direction (4a) between a release position which allows unhindered rotation of the output member (3) with respect to the base body (2) and a blocking position which prevents the output member (3) from rotating with respect to the base body (2), wherein the second brake structure (36) is in a brake engagement with the first brake structure (31) in the blocking position and out of brake engagement with the first brake structure (31) in the release position, - wherein the actuating device (19) has a switching element (16) which is supported immovably in the main direction (4a) with respect to the base body (2) and is equipped with a switching element permanent magnet device (45), and which can be rotated about the main axis (4) relative to the base body (2) by introducing a switching force and performing a rotary switching movement (18), - wherein the second brake body (33) which is not rotatable with respect to the base body (2) is equipped with a brake body permanent magnet device (46), - wherein the switching element (16) can be positioned by means of the rotary switching movement (18) in a blocking switching position which causes the blocking position of the second brake body (33), - and wherein the two permanent magnet devices (45, 46) assume a blocking relative position in the blocking switching position of the switching element (16) which attract each other magnetically in the main direction (4a) and thereby clamp the two brake structures (31, 36) together, characterized in that the switching element (16) can be selectively positioned in the blocking switching position or in a release switching position which causes the release position of the second brake body (33) by means of the rotary switching movement (18), wherein the blocking switching position is rotated about the main axis (4) by a switching rotation angle (42) with respect to the release switching position, wherein the two permanent magnet devices (45, 46) assume a release relative position in the release switching position of the switching element (16) in which they repel each other magnetically without mutual magnetic attraction in the main direction (4a),so that the two brake structures (31, 36) are actively separated from each other.

Description

[0001] The invention relates to a braking device, - with a base body and a driven element that can be driven in a rotary output motion about a main axis extending along a main direction, - with a first brake body that is torque-coupled to the output member and performs a brake body rotational movement about the main axis during the rotary output movement of the output member, and which has a first brake structure, - and with a second brake body supported in a manner that is non-rotatable about the main axis with respect to the base body, but movable in the main direction, which has a second brake structure opposite the first brake structure in the main direction, - and with an actuating device for relocating the second brake body during a working movement oriented in the main direction between a release position which allows unhindered rotation of the output member with respect to the base body and a blocking position which prevents the output member from rotating with respect to the base body, wherein the second brake structure is in brake engagement in the blocking position and out of brake engagement with the first brake structure in the release position.

[0002] Such a braking device, according to US 3,179,018 A, is a component of a fluid-operated rotary drive and has a base body formed by a drive housing in which a shaft-shaped output member, capable of being driven to a rotary output movement with respect to a main axis, is rotatably mounted. A first brake element, equipped with a brake lining, is mounted on the output member and follows the output movement. Coaxially to the first brake element, an annular piston defining a second brake element is mounted in the drive housing in a rotationally secured manner. This piston can be moved relative to the drive housing by means of an actuating device to perform a working movement, in order to selectively assume either a release position that allows rotation of the output element or a locking position that acts on the first brake element and thereby immobilizes the output element.The actuating device includes a fluid channel system through which fluid pressure can be applied to control the working movement of the second brake element. The design of the actuating device requires complex sealing measures, which increase the manufacturing cost of the brake device. Furthermore, the known brake device can only be operated in the presence of a fluidic pressure source, which limits its potential applications.

[0003] From DE 1 261 587 A, a servo system for controlling and regulating the speed of a shaft driven by a motor is known. A magnetizable brake disc is attached coaxially to the rotatable shaft. An electromagnet is located axially opposite the brake disc; its actuation causes the brake disc to be pressed against a counter-braking surface of the stationary electromagnet, thus braking the shaft due to friction.

[0004] A device described in DE 10 2014 217 517 A1 is designed to control a relative displacement between two supports. One of the two supports is equipped with permanent magnets, while the other supports has a magnetic coil. An electric current flowing in the coil generates a magnetic field that interacts with the permanent magnet to cause a relative movement between the two supports.

[0005] From DE 10 2011 004 814 A1, a brake unit is known, wherein the brake unit comprises at least one first magnetic element attached to a brake element and at least one second magnetic element, wherein the second magnetic element can be arranged on a holding element and in the magnetic field of the first magnetic element, or is arranged in this way, such that a magnetic force acts between the first magnetic element and the second magnetic element, which is designed to press the brake element against a rotor disk in order to generate a braking effect of the brake unit. The invention is based on the objective of creating a simple, compact and cost-effective brake device with which a high braking force can be generated with low susceptibility to wear and despite low actuation forces.

[0006] To solve this problem, a braking device in conjunction with the aforementioned features is provided, - that the actuating device has a switching element which is supported immovably in the main direction with respect to the base body and is equipped with a switching element permanent magnet device, which can be rotated about the main axis relative to the base body by introducing a switching force and performing a rotary switching movement, - that the second brake body, which is non-rotatable with respect to the main body, is equipped with a brake body permanent magnet device, - and that the switching element can be positioned by means of the rotary switching movement either in a release switching position that causes the release position of the second brake body or in a blocking switching position that is rotated about the main axis by a switching rotation angle with respect to the release switching position and causes the blocking position of the second brake body, - wherein the two permanent magnet devices in the blocking switching position of the switching element assume a blocking relative position which attracts each other magnetically in the main direction and thereby clamps the two brake structures together, and in the release switching position of the switching element assume a release relative position without mutual magnetic attraction, - wherein the switching element can be selectively positioned in the blocking switching position or in a release switching position that causes the release position of the second brake body by means of the rotary switching movement, wherein the blocking switching position is rotated about the main axis by a switching rotation angle with respect to the release switching position, wherein the two permanent magnet devices assume a release relative position in the release switching position of the switching element in which they magnetically repel each other without mutual magnetic attraction in the main direction, so that the two brake structures are actively moved away from each other.

[0007] In the braking device according to the invention, the braking force that causes the output member to be impervious to rotation is generated purely by permanent magnets and is independent of any switching force required to activate or deactivate the braking device. A first brake body, torque-coupled to the output member, has a first braking structure and, during the rotary output movement of the output member, performs a brake body rotation relative to the base body, which is particularly synchronous in this respect. A second brake body, supported impervious to rotation with respect to the base body and having a second braking structure axially opposite the first, can be selectively positioned in either a locking position or a release position by a working movement that takes place in the axial direction of the main axis, designated as the main direction.In the locked position, the second brake structure engages with the first brake structure, a braking action that is released in the unlocked position. To initiate the working movement of the second brake element, the actuating device includes a switching element that can be rotated around its main axis relative to the base body by applying a switching force. The resulting switching movement is transverse to the direction of the second brake element's working movement. Depending on the design of the braking device and its intended use, the switching force can be applied manually or mechanically.

[0008] Both the switching element and the second brake body are each equipped with a permanent magnet assembly that generates at least one permanent magnetic field. For clarity, the switching element is referred to as the switching element permanent magnet assembly, and the second brake body permanent magnet assembly. The two permanent magnet assemblies are designed and arranged such that, in a blocking switching position of the switching element that can be adjusted during the rotary switching movement, they assume a blocking relative position. In this position, they magnetically attract each other in the main direction, thereby axially displacing the second brake body into a blocking position in which the two brake structures are clamped together, thus preventing the output element from rotating relative to the base body. The braking device is then activated.To deactivate the braking device, the switching element can be moved into a release position by applying a switching force through a switching rotation angle. This changes the relative position between the two permanent magnet units from the locking position to a release position, in which the mutual magnetic attraction between the two permanent magnet units, and consequently the braking engagement between the two braking structures, is eliminated. The output member can then be rotated freely around the main axis relative to the base body. Due to the attractive force of the two permanent magnet units, a very high braking force can be generated in the locking position of the switching element. This force enables reliable and very rapid, even instantaneous, braking, even with a very high torque acting on the output member.Therefore, the braking device is particularly well-suited, for example, as a safety brake integrated between two relatively movable arm segments of a robotic arm, enabling the two arm segments to be briefly locked against each other in an emergency. Despite high braking forces, the switching force required to change the operating state of the braking device is very moderate, as the switching movement of the switching element, which changes the relative position between the two permanent magnets, is oriented transversely and, in particular, orthogonally to the direction of the magnetic attraction forces acting between the two permanent magnets. The permanent magnets allow for compact dimensions of the braking device, which consequently requires very little installation space.Furthermore, the braking device can be implemented with a low weight, which facilitates its integration into a moving system and thus particularly its use in robotics. The braking device can be used with both a stationary and a rotating output element, making it suitable as both a parking brake and a dynamic service brake.

[0009] Advantageous further developments of the invention are set out in the dependent claims.

[0010] The two permanent magnet devices are designed and arranged so that they magnetically repel each other in the release relative position, thereby actively pushing the two brake structures away from one another. In this way, both the locking relative position and the release relative position are permanently fixed by the magnets. Compared to another possible design, in which the magnetic attraction forces are merely canceled out in the release relative position and no repulsive forces are at work, this design has the advantage of reliably preventing any contact between the two brake structures that could cause wear. Compared to the theoretically possible separation of the two brake structures using a mechanical spring mechanism, magnetic repulsion offers the significant advantage of wear-free force transmission without the risk of spring breakage.

[0011] The switching element permanent magnet device and the brake body permanent magnet device, which when referred to together are also simply called permanent magnet devices, are preferably arranged with an equal radial distance to the main axis.

[0012] A preferred embodiment of the braking device provides that both permanent magnet devices each contain at least one individual permanent magnet unit, which is referred to as the switching element permanent magnet unit in the case of the switching element permanent magnet device and as the brake body permanent magnet unit in the case of the brake body permanent magnet device. Preferably, the magnetization direction of each permanent magnet unit, determined by the position of a magnetic pole configured as a north pole and a magnetic pole configured as a south pole, is oriented in the main direction defined by the axial direction of the main axis.

[0013] The number of permanent magnet units per permanent magnet assembly is primarily determined by the desired braking force with which the two brake structures are to be clamped together in the locked position of the second brake structure. However, it is generally advisable, even for reasons of symmetrical force transmission, to equip each of the two permanent magnet assemblies with several permanent magnet units distributed around the main axis. A regular distribution is particularly recommended.

[0014] Preferably, each permanent magnet unit, i.e., both each switching element permanent magnet unit and each brake element permanent magnet unit, is designed as an axially magnetized bar magnet. Preferably, these are elongated bar magnets magnetized in their longitudinal direction.

[0015] It is considered advantageous if the switching element permanent magnet assembly has several switching element permanent magnet units arranged around the main axis with opposite magnetic poles facing the brake body permanent magnet assembly, and the brake body permanent magnet assembly has several brake body permanent magnet units arranged around the main axis with opposite magnetic poles facing the switching element permanent magnet assembly. In the blocking switching position of the switching element, the switching element permanent magnet units and the brake body permanent magnet units are opposite each other in the main direction, attracting each other with opposite magnetic poles facing each other, while in the enabling switching position of the switching element, they are opposite each other in the main direction, repelling each other with like magnetic poles facing each other.

[0016] The main axis, and therefore also the main direction, extends axially in two opposite directions, which, for better differentiation, shall be referred to as the first direction of extension and the second direction of extension.

[0017] At least one switching element permanent magnet unit and at least one brake body permanent magnet unit are arranged such that they have the same magnetization orientation relative to each other. A similar magnetization orientation of permanent magnet units means that, in the respective permanent magnet units, the north poles point in the first direction of extension and the south poles in the second direction of extension, or vice versa. In the blocking switching position of the switching element, the aforementioned permanent magnet units of the switching element and the second brake body are positioned opposite each other in pairs with opposite magnetic poles facing each other in the main direction, so that they attract each other.In the release switching position of the switching element, said permanent magnet units are offset from each other by the switching rotation angle in the circumferential direction of the main axis, so that there is no longer any or at least no relevant attractive force, so that the brake engagement present in the blocking switching position is lifted.

[0018] Particularly in a very compact braking device, only one switching element permanent magnet unit and one brake body permanent magnet unit with the same magnetization orientation may be present. However, it is generally preferable to equip the braking device with several switching element permanent magnet units and several brake body permanent magnet units, each with the same magnetization orientation and, in the blocking switching position of the switching element, these units are oriented in pairs opposite each other with opposite magnetic poles facing each other in the main direction, attracting each other.Depending on the number of existing pairs of switching element permanent magnet units and brake body permanent magnet units designed for mutual attraction and having the same magnetization alignment, the total effective magnetic attraction force in the blocking switching position and consequently the braking force can be adjusted as required.

[0019] If mutual repulsion of the two permanent magnet devices is not desired in the release switching position, both permanent magnet devices can be equipped exclusively with permanent magnet units having the same magnetization orientation, such that no magnetic repulsion forces act in the release switching position. However, a preferred embodiment of the brake device is one in which the switching element permanent magnet device and / or the brake body permanent magnet device has at least two permanent magnet units spaced apart from each other in the circumferential direction of the main axis, arranged with opposite magnetization orientations.In this way, the switching element can be moved into a release switching position in which at least one switching element permanent magnet unit and a brake body permanent magnet unit with an opposite magnetization orientation are paired opposite each other with opposite magnetic poles facing each other and accordingly repel each other.

[0020] In a particularly advantageous embodiment of the brake device, the switching element permanent magnet device has at least two first switching element permanent magnet units arranged with a first magnetization orientation that is the same with respect to the main direction, and at least two second switching element permanent magnet units arranged with a second magnetization orientation opposite to the first magnetization orientation, wherein the first and second switching element permanent magnet units are arranged alternately in succession in the circumferential direction of the main axis.Furthermore, the brake body permanent magnet device comprises at least two first brake body permanent magnet units arranged with the first magnetization orientation and at least two second brake body permanent magnet units arranged with the second magnetization orientation opposite to the first magnetization orientation, wherein here too the first and second brake body permanent magnet units are arranged alternately in succession in the circumferential direction of the main axis.The distribution of the individual permanent magnet units is chosen such that, firstly, in the locking switching position, switching element permanent magnet units and brake body permanent magnet units with the first magnetization orientation, as well as switching element permanent magnet units and brake body permanent magnet units with the second magnetization orientation, are each arranged in pairs opposite each other, attracting each other in the main direction. Secondly, in the release switching position, switching element permanent magnet units and brake body permanent magnet units with opposite magnetization orientations are arranged in pairs opposite each other, repelling each other. This achieves both a high attractive force for providing a high braking force and a high repulsive force for a particularly rapid release of the brake engagement.

[0021] In principle, any distribution of switching element permanent magnet units and / or brake body permanent magnet units is possible in the circumferential direction of the main axis. For example, permanent magnet units can be distributed at uniform intervals around the main axis. However, a particularly advantageous configuration is considered to be one in which either several switching element permanent magnet units or several brake body permanent magnet units, or both, are grouped into permanent magnet groups, which are arranged in the circumferential direction of the main axis at intervals around the main axis.The spacing between successive permanent magnet groups along the circumference of the main axis is advantageously greater than any spacing between permanent magnet units belonging to the same permanent magnet group. For example, there are a total of four permanent magnet groups. A uniform distribution of the permanent magnet groups around the main axis is advantageous to achieve symmetrical force application when activating and deactivating the braking device.

[0022] The switching element of the actuating device is expediently designed in an annular shape and arranged coaxially to the main axis. To achieve a short axial design of the brake device, it is advantageous if the switching element coaxially surrounds the first brake body at a radial distance.

[0023] To maintain the torque coupling between the first brake element and the output member, the brake element is advantageously attached to the output member so that it synchronously follows the output member's rotary motion. The first brake element is, in particular, arranged directly on the output unit. For example, the first brake element and the output element can be formed integrally. A design is preferred in which the first brake element is a separate component from the output member and is attached to the output member by means of a screw connection. A detachable screw connection allows for cost-effective replacement of the first brake element in case of wear.

[0024] It is advantageous if both the first and second brake structures have a longitudinally curved arc, with the center of curvature lying on the main axis. It is considered particularly advantageous if at least one of the two brake structures is annular in shape and arranged coaxially with respect to the main axis, extending over an arc angle of 360 degrees. It is considered especially convenient if both brake structures are annular in shape and arranged coaxially with the main axis. Advantageously, the two annular brake structures have the same diameter.

[0025] The first brake body is expediently designed in the shape of an annular disc and arranged coaxially to the main axis.

[0026] The second brake body is preferably ring-shaped and arranged coaxially to the main axis.

[0027] Advantageously, the second brake element is mounted on the base body in a manner that allows for linear displacement only in the main direction, thus preventing rotation of the second brake element relative to the base body about the main axis. To prevent rotation relative to the base body, axially sliding anti-rotation projections and recesses are advantageously provided on both the second brake element and the base body, distributed around the main axis.

[0028] In a preferred embodiment, the two brake structures are each designed as a toothed arrangement with alternating teeth and gaps along the circumference of the main axis. In this case, when the second brake body is locked, the two toothed arrangements engage axially in a positive-locking manner, resulting in a positive-locking connection along the circumference of the main axis that supports the two brake structures against each other. In the release position, the positive-locking engagement between the two brake structures is released.

[0029] The design of the gear teeth is, in principle, arbitrary. A particularly advantageous design is one in which the teeth each have a profile that tapers towards their tip, and the interdental spaces each have a profile that tapers towards their base. Gear teeth designed in this way can be engaged and disengaged with minimal wear, yet still provide stable torque support in the locked position.

[0030] The two gear teeth are advantageously located in a plane perpendicular to the main axis. For example, the gear teeth can be formed axially on the end face of the respective brake body, similar to so-called crown gears.

[0031] Another advantageous design option for the gear teeth is to implement them as bevel gears inclined relative to the main axis. In this case, the cone angles of the gear teeth of both brake structures open in the same direction of extension of the main axis.

[0032] Another advantageous embodiment provides that each of the two braking structures is designed as a braking surface that is at least substantially flat, with the mutual braking engagement consisting of the braking surfaces being pressed against each other over a flat area. In this case, the resulting braking force is purely a frictional force. For example, the braking surfaces can be made of a temperature-resistant material with a high coefficient of friction, such as that used in brake pads in automotive engineering. One or both braking surfaces can be implemented as individual, and in particular easily replaceable, brake pads.

[0033] To generate the rotary output motion of the driven element, the braking device itself can directly incorporate a rotary drive arranged on the base body. This can be, for example, a fluid-actuated rotary drive, such as a pneumatic rotary drive. Furthermore, the rotary drive can be an electric rotary drive, such as an electric stepper motor or servo motor.

[0034] In all cases, the braking device is designed in such a way that the output movement of the driven element can be executed bidirectionally, including, in particular, a reciprocating rotary movement. However, the design can also be such that the driven element performs only a unidirectional rotary output movement.

[0035] The invention will now be explained in more detail with reference to the accompanying drawing. This drawing shows: Fig. 1 a preferred embodiment of the braking device according to the invention in a longitudinal section according to section plane II Fig. 3 in a deactivated operating state, wherein a section outlined in a dashed line is also illustrated separately in an enlarged form, and wherein a section according to section plane AA from the enlarged section is shown in a further separate figure illustrating a possible design of the brake structures, Fig. 2 a longitudinal section of the brake device again along section plane II from Fig. 3, however, in contrast to the Fig. 1 an activated operating state is shown, analogous to Fig. 1. A framed section is also illustrated again in an enlarged form, and in a further separate section a section according to section plane BB from the enlarged section is shown to illustrate a further possible design of the brake structures. Fig. 3 a cross-section of the brake device Fig. 1 and Fig. 2 according to section plane III-III from Fig. 1, Fig. 4 in schematic representation a section of the switching element and the second brake body including the associated permanent magnet devices in a radial view with viewing direction according to arrow IV. Fig. 4, wherein a relative position assumed in the deactivated operating state of the brake device is evident, and Fig. 5 the same schematic radial view of the switching element and the second brake body as in Fig. 4, although a relative position assumed in the activated operating state of the braking device can be seen.

[0036] The braking device, designated overall by reference numeral 1, has a base body 2 and a driven member 3 rotatable relative to the base body 2 about a principal axis 4 of the braking device 1. The principal axis 4, whose axial direction is hereinafter referred to as principal direction 4a, represents, by way of example, a longitudinal axis of the braking device 1. The principal axis 4, or principal direction 4a, has two opposing axial directions of extension, which are indicated by arrows and are hereinafter referred to as first direction of extension 5 and second direction of extension 6.

[0037] The rotary movement executable by the output element 3 is indicated by a double arrow and is referred to as rotary output movement 7 or, more simply, output movement 7. The output movement 7 can only be unidirectional or, according to the illustrated embodiment, bidirectional.

[0038] The output motion 7 can be generated in any way. Typically, a rotary drive 8, indicated only schematically by a dashed line, will generate the output motion 7. The rotary drive 8 is preferably a component of the brake device 1.

[0039] The illustrated rotary drive 8 is an electric rotary drive which preferably includes an electric motor as its drive source, in particular an electric servo motor or stepper motor. The rotary drive 8 has a drive housing 8a and a drive shaft 8b which can be driven to a rotary drive movement 11. The drive housing 8a is attached to the base body 2, in particular in the area of ​​an axial rear surface 12 of the device. The drive shaft 8b is connected directly or via a coupling device to the output member 3 in a torque-transmitting manner, engaging coaxially with the output member 3, which is expediently designed as a hollow shaft, from the rear surface 12 of the device.

[0040] According to an exemplary embodiment not illustrated, the rotary drive 8 can alternatively be a fluid-actuated rotary drive and, in particular, a pneumatic rotary drive.

[0041] The output motion 7 can be accessed at an output section 14 of the output member 3. For example, the output section 14 is located at the front 13 of the brake device 1, axially opposite the rear 12 of the device. It advantageously projects out of the base body 2 in the second direction 6. A coupling interface 15 formed on the output section 14 allows for the attachment, particularly detachable attachment, of a component that can be rotated relative to the base body 2.

[0042] The braking device 1 can, for example, be part of the arm joint of a robot arm or directly constitute such a robot arm joint itself. An unillustrated robot arm of a robot has two robot arms connected to each other by an arm joint in a manner that allows rotation relative to each other, wherein the braking device 1 is capable of preventing a relative rotational movement between the two robot arms in a manner derived from the Fig. 1 and Fig. 4 visible deactivated operating states to allow and in one of the Fig. 2 and Fig. 5. To prevent or block the activated operating state. The braking device 1 can be used in particular as a safety braking device 1, which continuously assumes the deactivated operating state during the normal operation of a robot and is only switched to the activated operating state in an emergency, in particular in the event of a malfunction.

[0043] Switching between the deactivated and activated operating states is achieved by actuating a switching element 16 of an actuating device 19 of the brake device 1. For example, the switching element 16 has a force application section 17 designed for manual and / or mechanical application of a switching force. The force application section 17 projects, for example, away from the switching element 16 towards the rear 12 of the device.

[0044] For example, in the deactivated operating state of the brake device 1, the force introduction section 17 can be held against the force of a tensioned spring device by a fluidic holding force provided by a fluid-actuated actuator, such that the switching element 16 can select a force from the Fig. 1 and Fig. 4. The release switch position is visible. In the event of a fault-related failure of the holding force, the force introduction section 17 is moved by the spring force, along with the entire switching element 16, into a position from the Fig. 2 and Fig. 5. The visible position is moved, in which the switching element 16 assumes a blocking switching position. Depending on the situation, the holding force and the spring force act as switching forces for the switching element 16 in order to position it, within the framework of a switching movement 18 indicated by a double arrow, either in the release switching position or in the blocking switching position.

[0045] The fluid-operated actuator and the spring assembly are expediently components of the actuating device 19, but can also be external components with respect to the brake device 1.

[0046] The base body 2 has an annular structure and an axially extending central opening 21 in which the output member 3 extends. The output member 3, preferably shaped like a shaft and in particular hollow shaft, is rotatably mounted in the base body 2 to enable the rotary output movement 7. A rotary bearing assembly 22 provided for this purpose is in particular designed as a rolling bearing assembly and includes, for example, two axially spaced rolling bearings 22a, 22b, which coaxially surround the output member 3. Each rolling bearing is fixed to the base body 2 by an outer ring and to the output member 3 by an inner ring.

[0047] The rotary bearing device 22 not only provides radial support between the output member 3 and the base body 2, but also expediently provides support of the output member 3 relative to the base body 2 in the main direction 4a that is immovable relative to each other.

[0048] The base body 2 is constructed in an exemplary housing-like manner. It has an annular front base body element 2a associated with the front of the device 13 and an annular rear base body element 2b associated with the rear of the device 12. The two base body elements 2a, 2b are fixed to each other by a screw connection or other fastening means.

[0049] The base body 2 defines an interior space 23, which is an annular space extending around the main axis 4 in a circumferential direction 24, indicated by a double arrow. The interior space 23 is open on its radial inner side facing the output member 3.

[0050] The braking device 1 has a first brake element 25 arranged coaxially to the main axis 4, which is torque-coupled to the output member 3, such that when the output member 3 rotates, the brake element performs a brake element rotational movement 26 about the main axis 4, derived from the output movement 7 and indicated by a double arrow. By way of example, the first brake element 25 is coupled to the output member 3 in such a way that it synchronously follows the output movement 7 without slippage.

[0051] Preferably, the first brake body 25 is designed in an annular disc shape, as illustrated in the exemplary embodiment, and arranged coaxially around the output member 3. The first brake body 25 is, in particular, a component separate from the output member 3 and is fastened to the output member 3 by fasteners, these fasteners being, for example, a screw connection 27. This is, in particular, a flange connection, wherein the first brake body 25 rests axially against a concentrically radially outwardly projecting annular mounting collar 28 of the output member 3 and is clamped to the mounting collar 28 by a plurality of fastening screws 27a of the screw connection 27, which are distributed around the output member 3. Alternatively, a one-piece embodiment of the first brake body 25 and the output member 3 would also be possible.

[0052] The first brake body 25 has a first brake structure 31 that always directly follows the rotational movement 26 of the brake body. This first brake structure 31 is preferably annular in shape and arranged coaxially with the main axis 4, which, by way of example, results in coaxiality with the main axis 4. Accordingly, the first brake structure 31 has a longitudinally curved arc with a center of curvature lying on the main axis 4. If, in special cases, the maximum rotation angle of the rotary output movement 7 is relatively small, the longitudinal extent of the first brake structure 31 can also be less than 360 degrees, deviating from the illustrated embodiment.

[0053] The first brake structure 31 is arranged, in particular, on one of the two axial end faces of the first brake body 25, by way of example, on a rear end face 32 of the first brake body 25 facing the rear of the device 12. A radial distance exists between the first brake structure 31 and the output member 3. The first brake body 25 projects radially into the interior of the base body 23 from the central opening 21.

[0054] The braking device 1 further comprises a second brake body 33, separate from the first brake body 25, which is fixed to the base body 2 in such a way that it is supported relative to the base body 2 in a manner that prevents rotation about the main axis 4, and which is capable of performing a linear relative movement relative to the base body 2 in the main direction 4a. This linear movement of the second brake body 33, indicated in the drawing by a double arrow, is referred to as the working movement 34.

[0055] The second brake element 33 is advantageously designed in an annular shape and, like the first brake element 25, is arranged coaxially to the main axis 4. For example, it is shown in the interior space 23 of the base body, with a radial distance between it and the output member 3 all around the main axis 4.

[0056] The second brake body 33 is located opposite the first brake body 25 with radial overlap in the main direction 4a with respect to the main axis 4. By way of example, it adjoins the first brake body 25 towards the rear of the device 12.

[0057] The second brake body 33 has a front face 35 facing the rear end face 32 of the first brake body 25. In the region of this front face 35, the second brake body 33 has a second brake structure 36 opposite the first brake structure 31 in the main direction 4a. This second brake structure 36, like the second brake body 33 as a whole, is rotationally secured relative to the base body 2, but is nevertheless axially movable during the working movement 34. During the working movement 34, which can be performed in both directions 5, 6, the axial distance between the two brake structures 31, 36 changes.

[0058] The anti-rotation and axially displaceable support of the second brake body 33 with respect to the base body 2 is achieved, for example, by axially projecting anti-rotation projections 38 on a rear end face 37 of the second brake body 33, facing away from the first brake body 25, each of which engages in one of several anti-rotation recesses 41 formed in the base body 2 while maintaining lateral support. The anti-rotation projections 38 and anti-rotation recesses 41 are arranged in multiple numbers distributed around the main axis 4. The anti-rotation projections 38 are, in particular, designed as pin-like structures with a circular cross-section, with the anti-rotation recesses 41 having a complementary cross-sectional contour.

[0059] It is understood that an anti-rotation device enabling the linear working movement 34 between the second brake body 33 and the base body 2 can also be implemented in other ways.

[0060] The second brake structure 36 is preferably annular in shape and arranged coaxially to the main axis 4. Accordingly, the second brake structure 36 has a longitudinally curved arc with a center of curvature lying on the main axis 4. In special cases where the maximum rotation angle of the rotary output motion 7 is relatively small, the longitudinal extent of the second brake structure 36 can also be less than 360 degrees, deviating from the illustrated embodiment.

[0061] The two exemplary coaxial brake structures 31, 36 are positioned opposite each other in the main direction 4a in such a way that they preferably completely overlap in the radial direction with respect to the main axis 4.

[0062] Through the working movement 34, the second brake element 33 can be selected in one of the Fig. 1 and Fig. 4 evident release position or in one of the Fig. 2 and Fig. The second brake structure 36 is positioned in the blocking position shown in Figure 5. In the release position, the second brake structure 36 is spaced apart from the first brake structure 31 in the main direction 4a, so that there is no brake engagement between the two brake structures 36 and 31, and consequently the output member 3, which is in drive connection with the first brake body 25, can rotate freely to execute a rotary output movement 7. In the blocking position, the second brake structure 36 rests against the first brake structure 31, so that there is a brake engagement, by which the first brake body 25 and consequently also the output member 3 are blocked in a non-rotatable manner with respect to the base body 2.

[0063] The working movement 34, and consequently the optional positioning of the second brake structure 36 in the release position or in the locking position, can be brought about by the switching element 16 already described. The release switching position of the switching element 16 determines the release position of the second brake body 33, and the locking switching position of the switching element 16 determines the locking position of the second brake body 33.

[0064] The switching element 16 is preferably annular and arranged coaxially to the main axis 4, as shown in the illustrated embodiment. Preferably, it lies at least substantially in the same radial plane orthogonal to the main axis 4 as the first brake body 25. For example, the second brake body 33, which has a circular outer circumference, is coaxially enclosed by the annular switching element 16, which has a circular inner circumference, at a small radial distance. This allows for compact dimensions.

[0065] The switching movement 18 of the switching element 16, already mentioned above, is in particular a rotary movement with the main axis 4 as its center of rotation. Accordingly, the switching element 16 is rotated about the main axis 4 by an angle of rotation, designated as the switching rotation angle 42, to switch between its two switching positions, namely the enable switching position and the blocking switching position. Fig. Figure 4 illustrates the switching rotation angle of 42 in radians.

[0066] The switching element 16 is immovably supported with respect to the base body 2 in the main direction 4a. Furthermore, it is supported, in particular by the base body 2, radially with respect to the main axis 4, to maintain its position coaxial with respect to the main axis 4 at all times. For the axially immovable support, axially opposing support surfaces 43 are formed, for example, on the inner surface of the base body 2, which defines the interior space 23. The switching element 16 projects between these surfaces, and the surfaces bear axially against the switching element 16 from opposite sides with minimal play. Preferably, these axial support surfaces 43 are annular surfaces coaxial with respect to the main axis 4. For the radial support, several surfaces are formed, for example, on the inner surface of the base body 2. Fig. Three visible radial support surfaces 44 are formed, which are distributed radially outside the switching element 16 in the circumferential direction 24 and bear against the radial outer circumferential surface of the switching element 16. During the rotary switching movement 18, the switching element 16 can slide on both the axial support surfaces 43 and the radial support surfaces 44. It is understood that other measures for the necessary support of the switching element 16 are also possible.

[0067] The actuating device 19 includes a permanent magnet device 45, designed as part of the switching element 16 and designated as switching element permanent magnet device 45, and a further permanent magnet device 46, designed as part of the second brake body 33 and designated as brake body permanent magnet device 46. For the sake of simplicity, when referring to them together, only the designation permanent magnet device 45, 46 is used.

[0068] The two permanent magnet devices 45, 46, i.e., the switching element permanent magnet device 45 and the brake body permanent magnet device 46, are arranged on the switching element 16 and on the second brake body 33, respectively, such that in the blocking switching position of the switching element 16, they assume a relative position to each other, referred to as the blocking relative position, in which they magnetically attract each other in the main direction 4a. This causes the second brake body 33 to be drawn towards the switching element 16 by performing a working movement 34, while simultaneously clamping the second brake structure 36 to the first brake structure 31. The second brake structure 36 is thus moved from its release position to the blocking position. This also reduces the axial gap 47 that exists between the second brake body 33 and the switching element 16 in the release position.This axial gap 47 can be eliminated in the locking position of the second brake body 33, although to avoid over-controlling it is advantageous if at least a small axial gap 47 is still present between the second brake body 33 and the switching element 16 in the locking position of the second brake body 33, which is the case in the illustrated embodiment.

[0069] Furthermore, the two permanent magnet devices 45, 46 are arranged such that they are in the Fig. 2 and Fig. 4. In the apparent release switching position of the switching element 16, they assume a relative position to each other, designated as the release relative position, in which they do not attract each other in the main direction 4a. This allows the second brake element 33 to assume the release position, in which there is no brake engagement between the two brake structures 36, 31.

[0070] In principle, the two permanent magnet devices 45, 46 can be designed and arranged such that there is no magnetic interaction between them in the release relative position, i.e., neither attractive nor repulsive. The release of the brake engagement between the two brake structures 36, 31 is then based, for example, simply on the absence of axial tension or on the fact that an optional mechanical spring device pushes the second brake body 33 away from the first brake body 25, the spring force of which is overcome by the mutual attraction of the two permanent magnet devices 45, 46 in the locking relative position.However, the measure implemented in the illustrated embodiment is considered more advantageous, in which the actuating device 19 is designed such that the two permanent magnet devices 45, 46 magnetically repel each other in their release relative position in the main direction 4a. In this way, the second brake element 33 is actively biased into its release position, that is, the two brake structures 36, 31 are actively axially separated from each other.

[0071] Preferably, the two permanent magnet devices 45, 46 are arranged at an equal radial distance from the main axis 4. This allows both high magnetic attraction forces and high magnetic repulsion forces to be generated in a very small space. High magnetic forces guarantee fast switching operations with high braking force.

[0072] Despite strong magnetic attraction in the blocking relative position, the switching force required to switch the switching element 16 is relatively small, since the direction of the switching movement 18 is orthogonal to the attraction direction of the two permanent magnet devices 45, 46.

[0073] It is advantageous if, according to the illustrated embodiment, each of the two permanent magnet devices 45, 46 is composed of a plurality of individual permanent magnet units 51, 52, which, for better differentiation, are referred to as switching permanent magnet units 51 in the case of the switching element permanent magnet device 45 and as brake body permanent magnet units 52 in the case of the brake body permanent magnet device 46. The multiple permanent magnet units 51, 52 are each distributed around the main axis 4 in the circumferential direction 24, so that the magnetic forces are effective, in particular, in a symmetrical distribution and no wear-inducing tilting moments occur.In principle, however, it is quite possible, particularly in the case of a very compact brake device 1, to provide only one of each of the switching permanent magnet units 51 and the brake body permanent magnet units 52, or to provide a multiple arrangement of permanent magnet units 51 or 52 in one of the two permanent magnet devices 45, 46 and to equip the other permanent magnet device 46, 45 with only a single permanent magnet unit 52, 51. It is also possible to provide a different number of switching permanent magnet units 51 on the one hand and brake body permanent magnet units 52 on the other.

[0074] It is advantageous if all permanent magnet units 51, 52, as is also the case in the illustrated embodiment, are magnetized in the main direction 4a. The magnetization direction 55 of the individual permanent magnet units 51, 52, which are in the Fig. 4 and Fig. 5, which is identified by arrows, therefore runs at least essentially parallel to the main axis 4.

[0075] Each permanent magnet unit 51, 52 has a first magnetic pole 53 and a corresponding opposite magnetic pole 54. For example, the first magnetic poles 53 are each a north pole (N) and the second magnetic poles 54 are each a south pole (S). This pole arrangement can also be reversed. The direction of magnetization 55 is, for example, the direction from the first magnetic pole 53 to the second magnetic pole 54.

[0076] The permanent magnet units 51, 52 are advantageously designed as individual permanent bodies with a one-piece construction. Preferably, according to the exemplary embodiment, each permanent magnet unit 51, 52 is a bar magnet magnetized in its longitudinal direction, i.e., axially, in which the two magnetic poles 53, 54 are each assigned to one of the two end sections. The longitudinal axis of the bar magnets runs parallel to the main axis 4. In the illustrated exemplary embodiment, the bar magnets have a cylindrical shape, but can, for example, also be cuboid in shape.

[0077] Advantageously, each switching element permanent magnet unit 51 is received in a receiving recess 56 of the switching element 16, which is open towards the rear of the device 12 and is formed in a switching element base body 16a. The above descriptions of the general design and support of the switching element 16 advantageously refer to the switching element base body 16a.

[0078] Each brake body permanent magnet unit 52 is expediently received in a receiving recess 57 of the second brake body 33, which is open towards the front face 13 of the device and which is expediently formed in a brake body base 33a of the second brake body 33. The above descriptions of the general shape and support or mounting of the second brake body 33 expediently refer to the brake body base 33a.

[0079] Preferably, all receiving recesses 56, 57 are arranged at the same radial distance from the main axis 4. This arrangement applies accordingly to all permanent magnet units 51, 52.

[0080] Among the switching element permanent magnet units 51 are several first switching element permanent magnet units 51a and several second switching element permanent magnet units 51b. Among the brake body permanent magnet units 52 are first brake body permanent magnet units 52a and second brake body permanent magnet units 52b. With respect to the main direction 4a, all first switching element permanent magnet units 51a and all first brake body permanent magnet units 52a have the same magnetization orientation, which, for clarity, is referred to as the first magnetization orientation. Furthermore, all second switching element permanent magnet units 51b and all second brake body permanent magnet units 52b have the same magnetization orientation, which, for clarity, is referred to as the second magnetization orientation.A uniform magnetization orientation means that the magnetization directions 55 of the affected permanent magnet units point in the same direction of extension 5 or 6 of the main axis 4. The permanent magnet units 51, 52 are aligned such that the magnetization orientation of the first switching element permanent magnet units 51a and the first brake body permanent magnet units 52a is opposite to the magnetization orientation of the second switching element permanent magnet units 51b and the second brake body permanent magnet units 52b. By way of example, in this context, the south poles (S) of the first switching element permanent magnet units 51a and the first brake body permanent magnet units 52a point in the first direction of extension 5, while the south poles (S) of the second switching element permanent magnet units 51b and the second brake body permanent magnet units 52b point in the second direction of extension 6. .

[0081] The switching element permanent magnet units 51 and the brake body permanent magnet units 52 are now arranged in the circumferential direction 24 of the main axis 4 in such a distribution that in the Fig. In the release switching position of the switching element 16, switching element permanent magnet units 51 and brake body permanent magnet units 52, which have opposite magnetization orientations, are arranged in pairs opposite each other in the main direction 4a, repelling each other. Thus, switching element permanent magnet units 51 with the first magnetization orientation and brake body permanent magnet units 52 with the second magnetization orientation are arranged in pairs opposite each other, and furthermore, switching element permanent magnet units 51 with the second magnetization orientation and brake body permanent magnet units 52 with the first magnetization orientation are arranged in pairs opposite each other.

[0082] Furthermore, the arrangement taken results in a situation such that in the Fig. In the blocking switching position of the switching element 16, switching element permanent magnet units 51 and brake body permanent magnet units 52, each having the same magnetization orientation, are arranged in pairs opposite each other, attracting each other in the main direction 4a. Thus, switching element permanent magnet units 51 and brake body permanent magnet units 52 with the first magnetization orientation are arranged in pairs opposite each other, and switching element permanent magnet units 51 and brake body permanent magnet units 52 with the second magnetization orientation are also arranged in pairs opposite each other.

[0083] To maintain high magnetic attraction forces, it is advantageous if, according to the illustrated embodiment, in the blocking switching position of the switching element 16, several first switching element permanent magnet units 51a and first brake body permanent magnet units 52a as well as several second switching element permanent magnet units 51b and second brake body permanent magnet units 52b are each opposite each other in pairs.

[0084] Preferably, the release switch position is as follows: Fig. 4. Several second switching element permanent magnet units 51b and first brake body permanent magnet units 52a are arranged in pairs opposite each other, while for the first switching element permanent magnet units 51a and second brake body permanent magnet units 52b, a pairwise opposite arrangement is only present once, which results from the number of permanent magnet units 51, 52 shown. The arrangement can readily be configured such that, in the release switching position, several first switching element permanent magnet units 51 and second brake body permanent magnet units 52b, as well as several second switching element permanent magnet units 51b and first brake body permanent magnet units 52a, are arranged in pairs opposite each other. In fact, the latter is actually implemented in the exemplary embodiment, since the Fig. 4 and Fig. 5 only one each in Fig. Figure 3 shows the section of the switching element 16 and the second brake body 33 designated by arrow IV, while elsewhere along the circumference of the main axis 4 there are further switching element permanent magnet units 51 and brake body permanent magnet units 52.

[0085] Overall, it is advantageous if both the first and second switching element permanent magnet units 51a, 51b and the first and second brake body permanent magnet units 52a, 52b are arranged alternately one after the other in the circumferential direction 24 of the main axis 4. In any case, the locking position of the second brake body 33 is based on the fact that switching element permanent magnet units 51 and brake body permanent magnet units 52 with opposite magnetic poles 53, 54 are positioned opposite each other in the main direction 4a, while the unlocking position of the second brake body 33 preferably results from the fact that switching element permanent magnet units 51 and brake body permanent magnet units 52 with opposite magnetic poles 53, 54 facing each other are positioned opposite each other in the main direction 4a.

[0086] Preferably, the permanent magnet units 51, 52 are distributed around the main axis 4 such that several of them are arranged. Fig. Three visible permanent magnet groups 58 result, in which a plurality of switching element permanent magnet units 51 and brake element permanent magnet units 52 are each grouped together in a small space. The existing permanent magnet groups 58 are arranged at a distance from each other in the circumferential direction 24 of the main axis 4, with a particularly uniform distribution of the permanent magnet groups. The distance measured in the circumferential direction 24 between the individual permanent magnet groups 58 is greater than any distance between permanent magnet units 51, 52 contained within a respective permanent magnet group 58.

[0087] As an example, four permanent magnet groups 58 are arranged at angular intervals of 90 degrees around the main axis 4. Such a uniform distribution leads to a symmetrical force transmission when activating and deactivating the brake device 1. Even if the permanent magnet units 51, 52 are not grouped together, a uniform distribution of the permanent magnet units 51, 52 in the circumferential direction 24 is recommended.

[0088] According to the in Fig. In the enlarged detail AA shown in Figure 1, the two brake structures 31, 36 can be designed such that the braking effect present in the locking position of the second brake body 33 is based exclusively, or at least essentially exclusively, on a frictional force. In this case, the two brake structures 31, 36 are designed, in particular, as flat braking surfaces that are pressed against each other over a surface area in the locking position of the second brake body 33. Brake structures 31, 36 designed in this way offer the advantage of stepless, non-rotatable locking in any angular position assumed between the two brake bodies 25, 33. Preferably, a material with a high coefficient of friction and simultaneously high temperature resistance is used to realize at least one of the two brake structures 31, 36, and in particular the second brake structure 36.

[0089] Due to a particularly strong braking effect, an embodiment is preferred which in Fig. Figure 2 is illustrated in the enlarged section BB, where each of the two brake structures 31, 36 is designed as a toothed section 31a, 36a. The two toothed sections 31a, 36a are aligned such that they are in a positive engagement with each other during the locking position of the second brake body 33 and are spaced apart from each other during the release position of the second brake body 33 such that there is no longer a positive engagement. The positive engagement refers to the direction of rotation of the rotary output movement 7.

[0090] Each tooth arrangement 31a, 36a consists of an alternating sequence of teeth and interspaces in the circumferential direction 24. Preferably, the teeth of both tooth arrangements 31a, 36a have a profile that tapers towards their tooth tip, while the interspaces each have a profile that tapers towards the base of the interspace.

[0091] In the locked position of the second brake body 33, the teeth of each toothing 31a, 36a engage in the tooth spaces of each other toothing 36a, 31a, so that with respect to the circumferential direction 24 a positive interlocking support of the two toothings 31a, 36a is established both clockwise and counterclockwise.

[0092] One or both brake structures 31, 36 can be integral components of the associated brake body 25, 33, or they can be fixed as separate components to a base body of the respective brake body 25, 33. By way of example, the first brake structure 31 is formed integrally within the first brake body 25, while the second brake structure 31 is formed by a separate brake structure body 30, which is attached to the brake body base body 33a. The separate brake structure body 30 can be configured according to Fig. 1 (AA) a brake pad and according to Fig. 2 (BB) be a gear ring.

Claims

[1] Braking device, - with a base body (2) and an output member (3) which can be driven in relation to a rotary output movement (7) about a main axis (4) extending along a main direction (4a), - with a first brake body (25) which is coupled in terms of torque to the output member (3) and which executes a brake body rotational movement (26) about the main axis (4) during the rotary output movement (7) of the output member (3), said first brake body having a first brake structure (31), - and with a second brake body (33) which is supported in a manner non-rotatable about the main axis (4) with respect to the base body (2) but movable in the main direction (4a), which second brake body has a second brake structure (36) opposite the first brake structure (31) in the main direction (4a), - and with an actuating device (19) for displacing the second brake body (33) within the scope of a working movement (34) oriented in the main direction (4a) between a release position enabling unhindered rotation of the output member (3) with respect to the base body (2) and a blocking position non-rotatably blocking the output member (3) with respect to the base body (2), wherein the second brake structure (36) is in braking engagement with the first brake structure (31) in the blocking position and is out of braking engagement with the first brake structure (31) in the release position, - wherein the actuating device (19) comprises a switching element (16) which is immovably supported in the main direction (4a) with respect to the base body (2) and is equipped with a switching element permanent magnet device (45), which can be rotated about the main axis (4) relative to the base body (2) by introducing a switching force while executing a rotary switching movement (18), - wherein the second brake body (33) which is non-rotatable with respect to the base body (2) is equipped with a brake body permanent magnet device (46), - wherein the switching member (16) can be positioned by means of the rotary switching movement (18) in a blocking switching position causing the blocking position of the second brake body (33), - and wherein the two permanent magnet devices (45, 46) in the blocking switching position of the switching element (16) assume a blocking relative position which magnetically attracts each other in the main direction (4a) and thereby clamps the two braking structures (31, 36) together, characterized byin that the switching element (16) can be positioned by means of the rotary switching movement (18) optionally in the blocking switching position or in a release switching position which brings about the release position of the second brake body (33), wherein the blocking switching position is rotated about the main axis (4) by a switch angle of rotation (42) with respect to the release switching position, wherein the two permanent magnet devices (45, 46) assume a release relative position in the release switching position of the switching element (16) in which they magnetically repel one another without mutual magnetic attraction in the main direction (4a), so that the two brake structures (31, 36) are actively moved away from one another. [2] Braking device according to claim 1, characterized by that the two permanent magnet devices (45, 46) are arranged at the same radial distance from the main axis (4). [3] Braking device according to claim 1 or 2, characterized by in that the switching element permanent magnet device (45) has at least one individual switching element permanent magnet unit (51) and the brake body permanent magnet device (46) has at least one individual brake body permanent magnet unit (52), wherein expediently each switching element permanent magnet unit (51) and each brake body permanent magnet unit (52) has a magnetization direction (55) oriented in the main direction (4a). [4] Braking device according to claim 3, characterized by that the switching element permanent magnet device (45) has a plurality of switching element permanent magnet units (51) distributed around the main axis (4) and / or that the brake body permanent magnet device (46) has a plurality of brake body permanent magnet units (52) distributed around the main axis (4). [5] Braking device according to claim 3 or 4, characterized bythat each switching element permanent magnet unit (51) and each brake body permanent magnet unit (52) is designed as an axially magnetized bar magnet. [6] Braking device according to one of claims 3 to 5, characterized bythat the switching element permanent magnet device (45) has a plurality of switching element permanent magnet units (51) distributed around the main axis (4) with unlike magnetic poles (53, 54) facing the brake body permanent magnet device (46), and the brake body permanent magnet device (46) has a plurality of brake body permanent magnet units (52) distributed around the main axis (4) with unlike magnetic poles (53, 54) facing the switching element permanent magnet device (45), wherein the switching element permanent magnet units (51) and the brake body permanent magnet units (52) in the blocking switching position of the switching element (16) are opposite one another in pairs in the main direction (4a) under mutual attraction with unlike magnetic poles (53, 54) facing one another, and in the Release switching position of the switching element (16) under mutual repulsion with mutually facing magnetic poles of the same name (53,54) are opposite each other in pairs in the main direction (4a). [7] Braking device according to one of claims 3 to 6, characterized by in that at least one switching element permanent magnet unit (51) and at least one brake body permanent magnet unit (52) have the same magnetization orientation among one another and, in the blocking switching position of the switching element (16), are arranged opposite one another in pairs in the main direction (4a) with mutual attraction by mutually facing unlike magnetic poles (53, 54), while in the release switching position of the switching element (16) they are offset from one another by the switching angle of rotation (42) in the circumferential direction (24) of the main axis (4) to cancel the braking intervention. [8] Braking device according to claim 7, characterized byin that a plurality of switching member permanent magnet units (51, 52) have the same magnetization orientation as a plurality of brake body permanent magnet units (52) and, in the blocking switching position of the switching member (16), are arranged opposite one another in pairs in the main direction (4a) with mutual attraction by mutually facing unlike magnetic poles (53, 54), while in the release switching position of the switching member (16) they are offset from one another by the switching angle of rotation (42) in the circumferential direction (24) of the main axis (4) to cancel the braking intervention. [9] Braking device according to claim 7 or 8, characterized byin that the switching element permanent magnet device (45) has at least two switching element permanent magnet units (51) which are spaced apart from one another in the circumferential direction (24) of the main axis (4) and have opposite magnetization orientations, and / or in that the brake body permanent magnet device (46) has at least two brake body permanent magnet units (52) which are spaced apart from one another in the circumferential direction (24) of the main axis (4) and have opposite magnetization orientations, wherein in the release switching position of the switching element (16), at least one switching element permanent magnet unit (51) and one brake body permanent magnet unit (52) which has an opposite magnetization orientation in this regard are located opposite one another in pairs in the main direction (4a) with mutual repulsion and with mutually facing magnetic poles (53, 54) of the same name. [10] Braking device according to one of claims 3 to 9, characterized bythat the switching element permanent magnet device (45) has at least two first switching element permanent magnet units (51, 51a) arranged with a mutually identical first magnetization orientation with respect to the main direction (4a), and at least two second switching element permanent magnet units (51, 51b) arranged with a second magnetization orientation opposite to the first magnetization orientation, wherein the first and second switching element permanent magnet units (51, 51a, 51b) are arranged alternately in the circumferential direction (24) of the main axis (4), and that the brake body permanent magnet device (46) has at least two first brake body permanent magnet units (52, 52a) arranged with the first magnetization orientation and at least two second brake body permanent magnet units (52, 52b),wherein the first and second brake body permanent magnet units (52, 52a, 52b) are arranged alternately in the circumferential direction (24) of the main axis (4) in such a way that, on the one hand, in the blocking switchover position, both the switchover element permanent magnet units (51, 51a, 51b) and the brake body permanent magnet units (52, 52a, 52b) having the first magnetization orientation and the switchover element permanent magnet units (51, 51a, 51b) and the brake body permanent magnet units (52, 52a, 52b) having the second magnetization orientation are opposite one another in pairs with mutual attraction in the main direction (4a), and, on the other hand, in the release switchover position, the switchover element permanent magnet units (51, 51a, 51b) having an opposite magnetization orientation are opposite one another. 51a, 51b) and brake body permanent magnet units (52, 52a, 52b) are arranged opposite each other in pairs with mutual repulsion in the main direction (4a). [11] Braking device according to one of claims 3 to 10, characterized by in that a plurality of switching element permanent magnet units (51) and / or a plurality of brake body permanent magnet units (52) are combined to form permanent magnet groups (58) which are arranged distributed around the main axis (4) in the circumferential direction (24) of the main axis (4) at a mutual distance, wherein there are expediently four permanent magnet groups (58) in each case. [12] Braking device according to claim 11, characterized by that the permanent magnet groups (58) are arranged in a uniform distribution around the main axis (4). [13] Braking device according to one of claims 1 to 12, characterized by that the switching member (16) is annular and arranged coaxially to the main axis (4), wherein it expediently coaxially encloses the first brake body (25) at a radial distance. [14] Braking device according to one of claims 1 to 13, characterized bythat the first brake body (25) is fastened to the output member (3) for torque coupling with the output member (3) and synchronously participates in its output rotary movement (7). [15] Braking device according to claim 14, characterized by that the first brake body (25) is formed separately from the output member (3) and is fastened to the output member (3) by means of a screw connection (27). [16] Braking device according to one of claims 1 to 15, characterized by that the first braking structure (31) has a circular arc-shaped curved longitudinal extension with the center of curvature lying on the main axis (4). [17] Braking device according to one of claims 1 to 16, characterized by that the first braking structure (31) is circular in shape and arranged coaxially to the main axis (4). [18] Braking device according to one of claims 1 to 17, characterized bythat the first brake body (25) is annular disc-shaped and arranged coaxially to the main axis (4). [19] Braking device according to one of claims 1 to 18, characterized by that the second braking structure (36) has a circular arc-shaped curved longitudinal extension with the center of curvature lying on the main axis (4). [20] Braking device according to one of claims 1 to 19, characterized by that the second braking structure (36) is circular in shape and arranged coaxially to the main axis (4). [21] Braking device according to one of claims 1 to 20, characterized by that the second brake body (33) is annular and arranged coaxially to the main axis (4). [22] Braking device according to one of claims 1 to 21, characterized byin that the second brake body (33) is mounted on the base body (2) so as to be linearly displaceable exclusively in the main direction (4a) for carrying out the working movement (34), wherein anti-twist projections (38) and anti-twist recesses (41) which engage in an axially sliding manner with respect to the base body (2) are expediently formed on the second brake body (33) and on the base body (2) distributed around the main axis (4). [23] Braking device according to one of claims 1 to 22, characterized byin that each of the two braking structures (31, 36) is designed as a toothing (31a, 36a) with teeth and tooth spaces alternating one after the other in the circumferential direction (24) of the main axis (4), wherein the two toothings (31a, 36a) engage with one another in a form-fitting manner in the blocking position of the second braking body (33) and are not in engagement with one another in the release position of the second braking body (33), wherein expediently the teeth of the two toothings (31a, 36a) each have a profile that tapers towards the tooth tip and the tooth spaces of the two toothings (31a, 36a) each have a profile that tapers towards the base of the space. [24] Braking device according to one of claims 1 to 23, characterized by that the two brake structures (31, 36) are each designed as at least substantially flat brake surfaces which are pressed flatly against one another in the blocking position of the second brake body (33). [25] Braking device according to one of claims 1 to 24, characterized by in that it has a rotary drive (8) arranged on the base body (2) and designed to generate the rotary output movement (7) of the output member (3).

Images